EP1727006A4 - Controleur non lineaire et procede de controle non lineaire - Google Patents

Controleur non lineaire et procede de controle non lineaire

Info

Publication number
EP1727006A4
EP1727006A4 EP05709575A EP05709575A EP1727006A4 EP 1727006 A4 EP1727006 A4 EP 1727006A4 EP 05709575 A EP05709575 A EP 05709575A EP 05709575 A EP05709575 A EP 05709575A EP 1727006 A4 EP1727006 A4 EP 1727006A4
Authority
EP
European Patent Office
Prior art keywords
module
controller
nonlinear
controlled object
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05709575A
Other languages
German (de)
English (en)
Other versions
EP1727006B1 (fr
EP1727006A1 (fr
Inventor
Yoshihiro Miyake
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Circle for Promotion of Science and Engineering
Original Assignee
Tokyo Institute of Technology NUC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokyo Institute of Technology NUC filed Critical Tokyo Institute of Technology NUC
Publication of EP1727006A1 publication Critical patent/EP1727006A1/fr
Publication of EP1727006A4 publication Critical patent/EP1727006A4/fr
Application granted granted Critical
Publication of EP1727006B1 publication Critical patent/EP1727006B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40414—Man robot interface, exchange of information between operator and robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45108—Aid, robot for aid to, assist human disabled

Landscapes

  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Input Circuits Of Receivers And Coupling Of Receivers And Audio Equipment (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Stabilization Of Oscillater, Synchronisation, Frequency Synthesizers (AREA)
EP05709575A 2004-02-10 2005-02-01 Controleur non lineaire et procede de controle non lineaire Active EP1727006B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004034174A JP4858935B2 (ja) 2004-02-10 2004-02-10 非線形制御器及び非線形的制御方法
PCT/JP2005/001429 WO2005076091A1 (fr) 2004-02-10 2005-02-01 Controleur non lineaire et procede de controle non lineaire

Publications (3)

Publication Number Publication Date
EP1727006A1 EP1727006A1 (fr) 2006-11-29
EP1727006A4 true EP1727006A4 (fr) 2008-08-27
EP1727006B1 EP1727006B1 (fr) 2011-10-26

Family

ID=34836169

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05709575A Active EP1727006B1 (fr) 2004-02-10 2005-02-01 Controleur non lineaire et procede de controle non lineaire

Country Status (5)

Country Link
US (1) US7778726B2 (fr)
EP (1) EP1727006B1 (fr)
JP (1) JP4858935B2 (fr)
AT (1) ATE530960T1 (fr)
WO (1) WO2005076091A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4686681B2 (ja) 2004-10-05 2011-05-25 国立大学法人東京工業大学 歩行介助システム
JP4792302B2 (ja) * 2006-03-01 2011-10-12 東海ゴム工業株式会社 周期性信号の適応制御装置
US20110071457A1 (en) * 2009-09-15 2011-03-24 Northwestern University Method and apparatus for controlling intracranial pressure
JP2014128464A (ja) 2012-12-28 2014-07-10 Tokyo Institute Of Technology 歩行支援装置および歩行支援方法
KR101577029B1 (ko) 2014-05-16 2015-12-14 대한민국 청각자극을 통한 보행패턴 유도 시스템
JP6892393B2 (ja) * 2015-04-22 2021-06-23 マサチューセッツ インスティテュート オブ テクノロジー 足接地位置追随装置、その動きを制御する方法、コンピュータ実行可能なプログラム、及びそれを格納したコンピュータ読取可能な非一時的な情報記録媒体

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5403261A (en) * 1991-06-18 1995-04-04 Matsushita Electric Industrial Co., Ltd. Illumination equipment

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3526785B2 (ja) 1999-06-01 2004-05-17 インタロボット株式会社 意思伝達装置
JP2001299980A (ja) * 2000-04-21 2001-10-30 Mitsubishi Electric Corp 運動支援装置
JP2002336376A (ja) * 2001-05-15 2002-11-26 Mitsubishi Electric Corp 健康増進システム
JP3930399B2 (ja) 2002-08-21 2007-06-13 本田技研工業株式会社 歩行補助装置
US7209867B2 (en) * 2002-10-15 2007-04-24 Massachusetts Institute Of Technology Analog continuous time statistical processing
JP4587738B2 (ja) 2003-08-25 2010-11-24 ソニー株式会社 ロボット装置及びロボットの姿勢制御方法
JP4247533B2 (ja) 2003-09-03 2009-04-02 国立大学法人東京工業大学 呼吸同期装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5403261A (en) * 1991-06-18 1995-04-04 Matsushita Electric Industrial Co., Ltd. Illumination equipment

Non-Patent Citations (8)

* Cited by examiner, † Cited by third party
Title
ALEXANDER POGROMSKY ET AL: "Cooperative Oscillatory Behavior of Mutually Coupled Dynamical Systems", IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS PART I: REGULAR PAPERS, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 48, no. 2, 1 February 2001 (2001-02-01), XP011012271, ISSN: 1057-7122 *
MIYAKE Y ET AL: "Internal observation and mutual adaptation in human-robot cooperation", SYSTEMS, MAN, AND CYBERNETICS, 1998. 1998 IEEE INTERNATIONAL CONFERENC E ON SAN DIEGO, CA, USA 11-14 OCT. 1998, NEW YORK, NY, USA,IEEE, US, vol. 4, 11 October 1998 (1998-10-11), pages 3685 - 3690, XP010310815, ISBN: 978-0-7803-4778-6 *
MIYAKE Y ET AL: "Mutual adaptation in human-robot cooperative walk-mutual-entrainment-based internal control", ROBOT AND HUMAN COMMUNICATION, 1997. RO-MAN '97. PROCEEDINGS., 6TH IEE E INTERNATIONAL WORKSHOP ON SENDAI, JAPAN 29 SEPT.-1 OCT. 1997, NEW YORK, NY, USA,IEEE, US, 29 September 1997 (1997-09-29), pages 124 - 129, XP010263186, ISBN: 978-0-7803-4076-3 *
MIYAKE Y ET AL: "Mutual entrainment based human-robot communication field-paradigm shift from human interface to communication field", ROBOT AND HUMAN COMMUNICATION, 1994. RO-MAN '94 NAGOYA, PROCEEDINGS., 3RD IEEE INTERNATIONAL WORKSHOP ON NAGOYA, JAPAN 18-20 JULY 1994, NEW YORK, NY, USA,IEEE, 18 July 1994 (1994-07-18), pages 118 - 123, XP010125444, ISBN: 978-0-7803-2002-4 *
MUTO T ET AL: "Analysis of the co-emergence process on the human-human cooperation", ROBOT AND HUMAN INTERACTIVE COMMUNICATION, 2002. PROCEEDINGS. 11TH IEE E INTERNATIONAL WORKSHOP ON SEPT. 25-27, 2002, PISCATAWAY, NJ, USA,IEEE, 25 September 2002 (2002-09-25), pages 65 - 70, XP010611621, ISBN: 978-0-7803-7545-1 *
MUTO T ET AL: "Temporal development of mutual constraint cycle in human-robot cooperation", SYSTEMS, MAN, AND CYBERNETICS, 1999. IEEE SMC '99 CONFERENCE PROCEEDIN GS. 1999 IEEE INTERNATIONAL CONFERENCE ON TOKYO, JAPAN 12-15 OCT. 1999, PISCATAWAY, NJ, USA,IEEE, US, vol. 4, 12 October 1999 (1999-10-12), pages 7 - 10, XP010362726, ISBN: 978-0-7803-5731-0 *
WATANABE T ET AL: "Analysis of entrainment in face-to-face interaction using heart rate variability", ROBOT AND HUMAN COMMUNICATION, 1996., 5TH IEEE INTERNATIONAL WORKSHOP ON TSUKUBA, JAPAN 11-14 NOV. 1996, NEW YORK, NY, USA,IEEE, US, 11 November 1996 (1996-11-11), pages 141 - 145, XP010212827, ISBN: 978-0-7803-3253-9 *
YUASA H ET AL: "COORDINATION OF MANY OSCILLATORS AND GENERATION OF LOCOMOTORY PATTERNS", BIOLOGICAL CYBERNETICS, SPRINGER VERLAG. HEIDELBERG, DE, vol. 63, no. 3, 1 July 1990 (1990-07-01), pages 177 - 184, XP000134422, ISSN: 0340-1200 *

Also Published As

Publication number Publication date
WO2005076091A1 (fr) 2005-08-18
JP4858935B2 (ja) 2012-01-18
US7778726B2 (en) 2010-08-17
EP1727006B1 (fr) 2011-10-26
ATE530960T1 (de) 2011-11-15
US20070282464A1 (en) 2007-12-06
JP2005227909A (ja) 2005-08-25
EP1727006A1 (fr) 2006-11-29

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